A5100617483- Planetary Science and Exploration
- Soil Mechanics and Vehicle Dynamics
- Robotic Locomotion and Control
- Soft Robotics and Applications
- Structural Analysis and Optimization
- Modular Robots and Swarm Intelligence
- Robotic Mechanisms and Dynamics
- Advanced Materials and Mechanics
- Dynamics and Control of Mechanical Systems
- Space Satellite Systems and Control
- Robot Manipulation and Learning
- Control and Dynamics of Mobile Robots
- Astro and Planetary Science
- Robotic Path Planning Algorithms
- Prosthetics and Rehabilitation Robotics
- Agricultural Engineering and Mechanization
- Piezoelectric Actuators and Control
- Adaptive Control of Nonlinear Systems
- Aeroelasticity and Vibration Control
- Spacecraft and Cryogenic Technologies
- Industrial Technology and Control Systems
- Drilling and Well Engineering
- Mechanical Engineering and Vibrations Research
- Advanced Surface Polishing Techniques
- Granular flow and fluidized beds
Harbin Institute of Technology
2016-2025
State Key Laboratory of Robotics and Systems
2011-2024
Heilongjiang Institute of Technology
2006-2024
China University of Geosciences (Beijing)
2024
State Key Laboratory of Robotics
2024
University of Electronic Science and Technology of China
2023
Shanghai Jiao Tong University
2023
Shanghai Maritime University
2023
China Academy of Space Technology
2017-2022
Shenyang Aerospace University
2020
Origami-inspired metamorphous structures can adjust their shapes and mechanical behaviors according to operational requirements. However, they are typically composed of nonrigid origami, where required facet deformation complicates actuation makes them highly material dependent. In this study, we present a type origami structure modular bistable units, each which is rigid origami. The elasticity within the creases switching mountain valley crease lines enable it have bistability. resultant...
Contact mechanics plays an important role in the design, performance analysis, simulation, and control of legged robots. The Hunt–Crossley model Coulomb friction are often used as black-box models with limited consideration properties terrain feet. This paper analyzes foot–terrain interaction based on knowledge terramechanics reveals relationship between parameters conventional models. proposed derived three categories: deformable foot hard terrain, terrain. A novel tangential forces...
In this paper, an adaptive neural network (NN)-based tracking control algorithm is proposed for the wheeled mobile robotic (WMR) system with full state constraints. It first time to design NN-based dynamic WMR The constraints come from limitations of wheels' forward speed and steering angular velocity, which depends on motors' driving performance. By employing NNs a barrier Lyapunov function error variables, then, unknown functions in systems are estimated, not violated. Based assumptions...
In this paper, a dynamic model of wheeled mobile robotic (WMR) system with coupled control input is developed, which will increase the complexity its tracking time-varying advance angle. To deal problem, partial reinforcement learning neural network (PRLNN)-based algorithm proposed for WMR systems. The main contributions PRLNN adaptive method that it first to introduce system, determines solve critic (NN) and action NN laws decoupled controllers are designed using standard gradient-based...
Considering the uncertain nonstrict nonlinear system with dead-zone input, an adaptive neural network (NN)-based finite-time online optimal tracking control algorithm is proposed. By using errors and Lipschitz linearized desired function as new state vector, extended present. Then, a novel Hamilton-Jacobi-Bellman (HJB) defined to associate nonquadratic performance function. Further, upper limit of integration selected convergence time, in which input considered. In addition, Bellman error...
The lunar nearside has been investigated by many uncrewed and crewed missions, but the farside of Moon remains poorly known. Lunar exploration is challenging because maneuvering rovers with efficient locomotion in harsh extraterrestrial environment necessary to explore geological characteristics scientific interest. Chang’E-4 mission successfully targeted Moon’s deployed a teleoperated rover (Yutu-2) inside Von Kármán crater, conveying rich information regarding regolith, craters, rocks....
Predicting wheel‐terrain interaction with semiempirical models is of substantial importance for developing planetary wheeled mobile robots (rovers). Primarily geared toward the design manned terrestrial vehicles, conventional terramechanics do not provide sufficient fidelity required application on autonomous rovers. To develop a high‐fidelity mechanics model, in this study physical effects wheel lug, slip sinkage, dimension, and load are analyzed based experimental results, including...
In this paper, a class of large deployable mechanisms constructed by plane-symmetric Bricard linkages is presented. The linkage closed-loop overconstrained spatial mechanism composed six hinge-jointed bars, which has one plane symmetry during its deployment process. kinematic analysis the presented from perspectives geometric conditions, closure equations, and degree-of-freedom. results illustrate that degree-of-freedom can be deployed folded configuration to rectangle plane. Therefore, used...
This paper presents a locomotion control method based on central pattern generator (CPG) for hexapod walking robot to achieve gait generation with smooth transition. By deriving an analytical limit cycle approximation of the Van der Pol oscillator, simple diffusive coupling scheme is proposed construct ring-shape CPG network phase-locked behavior. The stability proved using synchronization analysis guaranteed uniform ultimate boundedness synchronous errors. In contrast conventional numerical...
In this paper, an adaptive dynamic programming-based online tracking control algorithm is proposed to solve the problem of partial uncertain time-delayed nonlinear affine system with resistance. Using discrete-time Hamilton-Jacobi-Bellman function, input time-delay separation lemma, and Lyapunov-Krasovskii functionals, state time delay can be determined. With approximation action critic, resistance neural networks, a near-optimal controller appropriate laws are defined guarantee uniform...
Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materials flexible geometric structures. In this study, a novel multi-flexible body modeling technique...
Yutu-2 rover conducted an exciting expedition on the 41st lunar day to investigate a fin-shaped rock at Longji site (45.44°S, 177.56°E) by extending its locomotion margin perilous peaks. The varied encountered, especially multi-form wheel slippage, during journey target rock, established unique conditions for fin-grained regolith analysis regarding bearing, shear and lateral properties based terramechanics. Here, we show tri-aspect characterization of infer rock's origin using digital twin....
This paper presents a geometric approach for design and synthesis of deployable/foldable single loop mechanisms with pure revolute joints. The basic kinematic chains symmetric mobility are first synthesized, an intuitive method is proposed the analysis these chains. can be regarded as combination nontrivial intersection, under this approach, 5R to 8R synthesized systematically. determining positions joint axes on polyhedral links also proposed, so that mechanism fully deployed or folded...
To provide a theoretical basis for metal honeycombs being used as buffering and crashworthy structures in lunar lander system, this paper investigates the energy absorption properties of hexagonal honeycombs, size optimisation honeycomb absorber is performed by using response surface method (RSM). Specific (SEA) set design objective; cell length foil thickness are optimised, while applied mean crash load to not exceed allowable limits. The results demonstrate that effective solving...
AbstractAs a major representative nonholonomic system, wheeled mobile robot (WMR) is often used to travel across off-road environments that could be unstructured environments. Slippage occurs when WMR moves in slopes or uneven terrain, and the slippage generates large accumulated position errors vehicle, compared with conventional robots. An estimation of wheel slip ratio essential improve accuracy locomotion control. In this paper, we propose an improved adaptive controller allow track...